A joint from the robot. Models the transform that this joint applies in the kinematic chain. A joint consists of multiple variables. In the simplest case, when the joint is a single DOF, there is only one variable and its name is the same as the joint's name. For multi-DOF joints, each variable has a local name (e.g., x, y) but the full variable name as seen from the outside of this class is a concatenation of the "joint name"/"local name" (e.g., a joint named 'base' with local variables 'x' and 'y' will store its full variable names as 'base/x' and 'base/y'). Local names are never used to reference variables directly. More...

#include <joint_model.h>

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Public Types
enum	JointType { UNKNOWN , REVOLUTE , PRISMATIC , PLANAR , FLOATING , FIXED }
	The different types of joints we support. More...

using	Bounds = std::vector< VariableBounds >
	The datatype for the joint bounds.

Public Member Functions
	JointModel (const std::string &name, size_t joint_index, size_t first_variable_index)
	Constructs a joint named name.

virtual	~JointModel ()

const std::string &	getName () const
	Get the name of the joint.

JointType	getType () const
	Get the type of joint.

std::string	getTypeName () const
	Get the type of joint as a string.

const LinkModel *	getParentLinkModel () const
	Get the link that this joint connects to. The robot is assumed to start with a joint, so the root joint will return nullptr here.

const LinkModel *	getChildLinkModel () const
	Get the link that this joint connects to. There will always be such a link.

void	setParentLinkModel (const LinkModel *link)

void	setChildLinkModel (const LinkModel *link)

virtual double	distance (const double value1, const double value2) const =0
	Compute the distance between two joint states of the same model (represented by the variable values)

double	getDistanceFactor () const
	Get the factor that should be applied to the value returned by distance() when that value is used in compound distances.

void	setDistanceFactor (double factor)
	Set the factor that should be applied to the value returned by distance() when that value is used in compound distances.

virtual unsigned int	getStateSpaceDimension () const =0
	Get the dimension of the state space that corresponds to this joint.

const JointModel *	getMimic () const
	Get the joint this one is mimicking.

double	getMimicOffset () const
	If mimicking a joint, this is the offset added to that joint's value.

double	getMimicFactor () const
	If mimicking a joint, this is the multiplicative factor for that joint's value.

void	setMimic (const JointModel *mimic, double factor, double offset)
	Mark this joint as mimicking mimic using factor and offset.

const std::vector< const JointModel * > &	getMimicRequests () const
	The joint models whose values would be modified if the value of this joint changed.

void	addMimicRequest (const JointModel *joint)
	Notify this joint that there is another joint that mimics it.

void	addDescendantJointModel (const JointModel *joint)

void	addDescendantLinkModel (const LinkModel *link)

const std::vector< const LinkModel * > &	getDescendantLinkModels () const
	Get all the link models that descend from this joint, in the kinematic tree.

const std::vector< const JointModel * > &	getDescendantJointModels () const
	Get all the joint models that descend from this joint, in the kinematic tree.

const std::vector< const JointModel * > &	getNonFixedDescendantJointModels () const
	Get all the non-fixed joint models that descend from this joint, in the kinematic tree.

bool	isPassive () const
	Check if this joint is passive.

void	setPassive (bool flag)

virtual void	interpolate (const double from, const double to, const double t, double *state) const =0
	Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state. The memory location of state is not required to be different from the memory of either from or to.

virtual double	getMaximumExtent (const Bounds &other_bounds) const =0
	Get the extent of the state space (the maximum value distance() can ever report)

double	getMaximumExtent () const

Reason about the variables that make up this joint
const std::vector< std::string > &	getVariableNames () const
	Get the names of the variables that make up this joint, in the order they appear in corresponding states. For single DOF joints, this will be just the joint name. For multi-DOF joints these will be the joint name followed by "/", followed by the local names of the variables.

const std::vector< std::string > &	getLocalVariableNames () const
	Get the local names of the variable that make up the joint (suffixes that are attached to joint names to construct the variable names). For single DOF joints, this will be empty.

bool	hasVariable (const std::string &variable) const
	Check if a particular variable is known to this joint.

std::size_t	getVariableCount () const
	Get the number of variables that describe this joint.

size_t	getFirstVariableIndex () const
	Get the index of this joint's first variable within the full robot state.

size_t	getJointIndex () const
	Get the index of this joint within the robot model.

size_t	getLocalVariableIndex (const std::string &variable) const
	Get the index of the variable within this joint.

Functionality specific to computing state values
void	getVariableDefaultPositions (double *values) const
	Provide a default value for the joint given the default joint variable bounds (maintained internally). Most joints will use the default implementation provided in this base class, but the quaternion for example needs a different implementation. Enough memory is assumed to be allocated.

virtual void	getVariableDefaultPositions (double *values, const Bounds &other_bounds) const =0
	Provide a default value for the joint given the joint variable bounds. Most joints will use the default implementation provided in this base class, but the quaternion for example needs a different implementation. Enough memory is assumed to be allocated.

void	getVariableRandomPositions (random_numbers::RandomNumberGenerator &rng, double *values) const
	Provide random values for the joint variables (within default bounds). Enough memory is assumed to be allocated.

virtual void	getVariableRandomPositions (random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &other_bounds) const =0
	Provide random values for the joint variables (within specified bounds). Enough memory is assumed to be allocated.

void	getVariableRandomPositionsNearBy (random_numbers::RandomNumberGenerator &rng, double values, const double near, const double distance) const
	Provide random values for the joint variables (within default bounds). Enough memory is assumed to be allocated.

virtual void	getVariableRandomPositionsNearBy (random_numbers::RandomNumberGenerator &rng, double values, const Bounds &other_bounds, const double near, const double distance) const =0
	Provide random values for the joint variables (within specified bounds). Enough memory is assumed to be allocated.

Functionality specific to verifying bounds
bool	satisfiesPositionBounds (const double *values, double margin=0.0) const
	Check if the set of values for the variables of this joint are within bounds.

virtual bool	satisfiesPositionBounds (const double *values, const Bounds &other_bounds, double margin) const =0
	Check if the set of position values for the variables of this joint are within bounds, up to some margin.

bool	enforcePositionBounds (double *values) const
	Force the specified values to be inside bounds and normalized. Quaternions are normalized, continuous revolute joints are made between -Pi and Pi. Returns true if changes were made.

virtual bool	enforcePositionBounds (double *values, const Bounds &other_bounds) const =0
	Force the specified values to be inside bounds and normalized. Quaternions are normalized, continuous revolute joints are made between -Pi and Pi. Return true if changes were made.

virtual bool	harmonizePosition (double *values, const Bounds &other_bounds) const

bool	harmonizePosition (double *values) const

bool	satisfiesVelocityBounds (const double *values, double margin=0.0) const
	Check if the set of velocities for the variables of this joint are within bounds.

virtual bool	satisfiesVelocityBounds (const double *values, const Bounds &other_bounds, double margin) const
	Check if the set of velocities for the variables of this joint are within bounds, up to some margin.

bool	enforceVelocityBounds (double *values) const
	Force the specified velocities to be within bounds. Return true if changes were made.

virtual bool	enforceVelocityBounds (double *values, const Bounds &other_bounds) const
	Force the specified velocities to be inside bounds. Return true if changes were made.

bool	satisfiesAccelerationBounds (const double *values, double margin=0.0) const
	Check if the set of accelerations for the variables of this joint are within bounds.

virtual bool	satisfiesAccelerationBounds (const double *values, const Bounds &other_bounds, double margin) const
	Check if the set of accelerations for the variables of this joint are within bounds, up to some margin.

bool	satisfiesJerkBounds (const double *values, double margin=0.0) const
	Check if the set of jerks for the variables of this joint are within bounds.

virtual bool	satisfiesJerkBounds (const double *values, const Bounds &other_bounds, double margin) const
	Check if the set of jerks for the variables of this joint are within bounds, up to some margin.

const VariableBounds &	getVariableBounds (const std::string &variable) const
	Get the bounds for a variable. Throw an exception if the variable was not found.

const Bounds &	getVariableBounds () const
	Get the variable bounds for this joint, in the same order as the names returned by getVariableNames()

void	setVariableBounds (const std::string &variable, const VariableBounds &bounds)
	Set the lower and upper bounds for a variable. Throw an exception if the variable was not found.

void	setVariableBounds (const std::vector< moveit_msgs::msg::JointLimits > &jlim)
	Override joint limits loaded from URDF. Unknown variables are ignored.

const std::vector< moveit_msgs::msg::JointLimits > &	getVariableBoundsMsg () const
	Get the joint limits known to this model, as a message.

Computing transforms
virtual void	computeTransform (const double *joint_values, Eigen::Isometry3d &transf) const =0
	Given the joint values for a joint, compute the corresponding transform. The computed transform is guaranteed to be a valid isometry.

virtual void	computeVariablePositions (const Eigen::Isometry3d &transform, double *joint_values) const =0
	Given the transform generated by joint, compute the corresponding joint values. Make sure the passed transform is a valid isometry.

Protected Member Functions
void	computeVariableBoundsMsg ()

Protected Attributes
JointType	type_
	The type of joint.

std::vector< std::string >	local_variable_names_
	The local names to use for the variables that make up this joint.

std::vector< std::string >	variable_names_
	The full names to use for the variables that make up this joint.

Bounds	variable_bounds_
	The bounds for each variable (low, high) in the same order as variable_names_.

std::vector< moveit_msgs::msg::JointLimits >	variable_bounds_msg_

VariableIndexMap	variable_index_map_
	Map from variable names to the corresponding index in variable_names_ (indexing makes sense within the JointModel only)

const LinkModel *	parent_link_model_
	The link before this joint.

const LinkModel *	child_link_model_
	The link after this joint.

const JointModel *	mimic_
	The joint this one mimics (nullptr for joints that do not mimic)

double	mimic_factor_
	The multiplier to the mimic joint.

double	mimic_offset_
	The offset to the mimic joint.

std::vector< const JointModel * >	mimic_requests_
	The set of joints that should get a value copied to them when this joint changes.

std::vector< const LinkModel * >	descendant_link_models_
	Pointers to all the links that will be moved if this joint changes value.

std::vector< const JointModel * >	descendant_joint_models_
	Pointers to all the joints that follow this one in the kinematic tree (including mimic joints)

std::vector< const JointModel * >	non_fixed_descendant_joint_models_
	Pointers to all the joints that follow this one in the kinematic tree, including mimic joints, but excluding fixed joints.

bool	passive_
	Specify whether this joint is marked as passive in the SRDF.

double	distance_factor_
	The factor applied to the distance between two joint states.

Detailed Description

A joint from the robot. Models the transform that this joint applies in the kinematic chain. A joint consists of multiple variables. In the simplest case, when the joint is a single DOF, there is only one variable and its name is the same as the joint's name. For multi-DOF joints, each variable has a local name (e.g., x, y) but the full variable name as seen from the outside of this class is a concatenation of the "joint name"/"local name" (e.g., a joint named 'base' with local variables 'x' and 'y' will store its full variable names as 'base/x' and 'base/y'). Local names are never used to reference variables directly.

Definition at line 116 of file joint_model.h.

Member Typedef Documentation

◆ Bounds

using moveit::core::JointModel::Bounds = std::vector<VariableBounds>

The datatype for the joint bounds.

Definition at line 131 of file joint_model.h.

Member Enumeration Documentation

◆ JointType

enum moveit::core::JointModel::JointType

The different types of joints we support.

Enumerator
UNKNOWN
REVOLUTE
PRISMATIC
PLANAR
FLOATING
FIXED

Definition at line 120 of file joint_model.h.

Constructor & Destructor Documentation

◆ JointModel()

moveit::core::JointModel::JointModel	(	const std::string &	name,
		size_t	joint_index,
		size_t	first_variable_index
	)

Constructs a joint named name.

Parameters

[in]	name	The joint name
[in]	index	The index of the joint in the RobotModel
[in]	first_variable_index	The index of the first variable in the RobotModel

Definition at line 47 of file joint_model.cpp.

◆ ~JointModel()

moveit::core::JointModel::~JointModel ( )

virtualdefault

Member Function Documentation

◆ addDescendantJointModel()

void moveit::core::JointModel::addDescendantJointModel ( const JointModel * joint )

Definition at line 260 of file joint_model.cpp.

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◆ addDescendantLinkModel()

void moveit::core::JointModel::addDescendantLinkModel ( const LinkModel * link )

Definition at line 267 of file joint_model.cpp.

◆ addMimicRequest()

void moveit::core::JointModel::addMimicRequest ( const JointModel * joint )

Notify this joint that there is another joint that mimics it.

Definition at line 255 of file joint_model.cpp.

◆ computeTransform()

virtual void moveit::core::JointModel::computeTransform	(	const double *	joint_values,
		Eigen::Isometry3d &	transf
	)		const

pure virtual

Given the joint values for a joint, compute the corresponding transform. The computed transform is guaranteed to be a valid isometry.

Implemented in moveit::core::FixedJointModel, moveit::core::FloatingJointModel, moveit::core::PlanarJointModel, moveit::core::PrismaticJointModel, and moveit::core::RevoluteJointModel.

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◆ computeVariableBoundsMsg()

void moveit::core::JointModel::computeVariableBoundsMsg ( )

protected

Definition at line 227 of file joint_model.cpp.

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◆ computeVariablePositions()

virtual void moveit::core::JointModel::computeVariablePositions	(	const Eigen::Isometry3d &	transform,
		double *	joint_values
	)		const

pure virtual

Given the transform generated by joint, compute the corresponding joint values. Make sure the passed transform is a valid isometry.

Implemented in moveit::core::FixedJointModel, moveit::core::FloatingJointModel, moveit::core::PlanarJointModel, moveit::core::PrismaticJointModel, and moveit::core::RevoluteJointModel.

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◆ distance()

virtual double moveit::core::JointModel::distance	(	const double *	value1,
		const double *	value2
	)		const

pure virtual

Compute the distance between two joint states of the same model (represented by the variable values)

Implemented in moveit::core::FixedJointModel, moveit::core::FloatingJointModel, moveit::core::PlanarJointModel, moveit::core::PrismaticJointModel, and moveit::core::RevoluteJointModel.

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◆ enforcePositionBounds() [1/2]

bool moveit::core::JointModel::enforcePositionBounds ( double * values ) const

inline

Force the specified values to be inside bounds and normalized. Quaternions are normalized, continuous revolute joints are made between -Pi and Pi. Returns true if changes were made.

Definition at line 292 of file joint_model.h.

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◆ enforcePositionBounds() [2/2]

virtual bool moveit::core::JointModel::enforcePositionBounds	(	double *	values,
		const Bounds &	other_bounds
	)		const

pure virtual

Force the specified values to be inside bounds and normalized. Quaternions are normalized, continuous revolute joints are made between -Pi and Pi. Return true if changes were made.

Implemented in moveit::core::FixedJointModel, moveit::core::FloatingJointModel, moveit::core::PlanarJointModel, moveit::core::PrismaticJointModel, and moveit::core::RevoluteJointModel.

◆ enforceVelocityBounds() [1/2]

bool moveit::core::JointModel::enforceVelocityBounds ( double * values ) const

inline

Force the specified velocities to be within bounds. Return true if changes were made.

Definition at line 320 of file joint_model.h.

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◆ enforceVelocityBounds() [2/2]

bool moveit::core::JointModel::enforceVelocityBounds	(	double *	values,
		const Bounds &	other_bounds
	)		const

virtual

Force the specified velocities to be inside bounds. Return true if changes were made.

Definition at line 98 of file joint_model.cpp.

◆ getChildLinkModel()

const LinkModel * moveit::core::JointModel::getChildLinkModel ( ) const

inline

Get the link that this joint connects to. There will always be such a link.

Definition at line 168 of file joint_model.h.

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◆ getDescendantJointModels()

const std::vector< const JointModel * > & moveit::core::JointModel::getDescendantJointModels ( ) const

inline

Get all the joint models that descend from this joint, in the kinematic tree.

Definition at line 428 of file joint_model.h.

◆ getDescendantLinkModels()

const std::vector< const LinkModel * > & moveit::core::JointModel::getDescendantLinkModels ( ) const

inline

Get all the link models that descend from this joint, in the kinematic tree.

Definition at line 422 of file joint_model.h.

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◆ getDistanceFactor()

double moveit::core::JointModel::getDistanceFactor ( ) const

inline

Get the factor that should be applied to the value returned by distance() when that value is used in compound distances.

Definition at line 374 of file joint_model.h.

◆ getFirstVariableIndex()

size_t moveit::core::JointModel::getFirstVariableIndex ( ) const

inline

Get the index of this joint's first variable within the full robot state.

Definition at line 216 of file joint_model.h.

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◆ getJointIndex()

size_t moveit::core::JointModel::getJointIndex ( ) const

inline

Get the index of this joint within the robot model.

Definition at line 222 of file joint_model.h.

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◆ getLocalVariableIndex()

size_t moveit::core::JointModel::getLocalVariableIndex ( const std::string & variable ) const

Get the index of the variable within this joint.

Definition at line 85 of file joint_model.cpp.

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◆ getLocalVariableNames()

const std::vector< std::string > & moveit::core::JointModel::getLocalVariableNames ( ) const

inline

Get the local names of the variable that make up the joint (suffixes that are attached to joint names to construct the variable names). For single DOF joints, this will be empty.

Definition at line 198 of file joint_model.h.

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◆ getMaximumExtent() [1/2]

double moveit::core::JointModel::getMaximumExtent ( ) const

inline

Definition at line 459 of file joint_model.h.

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◆ getMaximumExtent() [2/2]

virtual double moveit::core::JointModel::getMaximumExtent ( const Bounds & other_bounds ) const

pure virtual

Get the extent of the state space (the maximum value distance() can ever report)

Implemented in moveit::core::FixedJointModel, moveit::core::FloatingJointModel, moveit::core::PlanarJointModel, moveit::core::PrismaticJointModel, and moveit::core::RevoluteJointModel.

◆ getMimic()

const JointModel * moveit::core::JointModel::getMimic ( ) const

inline

Get the joint this one is mimicking.

Definition at line 390 of file joint_model.h.

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◆ getMimicFactor()

double moveit::core::JointModel::getMimicFactor ( ) const

inline

If mimicking a joint, this is the multiplicative factor for that joint's value.

Definition at line 402 of file joint_model.h.

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◆ getMimicOffset()

double moveit::core::JointModel::getMimicOffset ( ) const

inline

If mimicking a joint, this is the offset added to that joint's value.

Definition at line 396 of file joint_model.h.

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◆ getMimicRequests()

const std::vector< const JointModel * > & moveit::core::JointModel::getMimicRequests ( ) const

inline

The joint models whose values would be modified if the value of this joint changed.

Definition at line 411 of file joint_model.h.

◆ getName()

const std::string & moveit::core::JointModel::getName ( ) const

inline

Get the name of the joint.

Definition at line 145 of file joint_model.h.

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◆ getNonFixedDescendantJointModels()

const std::vector< const JointModel * > & moveit::core::JointModel::getNonFixedDescendantJointModels ( ) const

inline

Get all the non-fixed joint models that descend from this joint, in the kinematic tree.

Definition at line 434 of file joint_model.h.

◆ getParentLinkModel()

const LinkModel * moveit::core::JointModel::getParentLinkModel ( ) const

inline

Get the link that this joint connects to. The robot is assumed to start with a joint, so the root joint will return nullptr here.

Definition at line 162 of file joint_model.h.

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◆ getStateSpaceDimension()

virtual unsigned int moveit::core::JointModel::getStateSpaceDimension ( ) const

pure virtual

Get the dimension of the state space that corresponds to this joint.

Implemented in moveit::core::FixedJointModel, moveit::core::FloatingJointModel, moveit::core::PlanarJointModel, moveit::core::PrismaticJointModel, and moveit::core::RevoluteJointModel.

◆ getType()

JointType moveit::core::JointModel::getType ( ) const

inline

Get the type of joint.

Definition at line 151 of file joint_model.h.

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◆ getTypeName()

std::string moveit::core::JointModel::getTypeName ( ) const

Get the type of joint as a string.

Definition at line 64 of file joint_model.cpp.

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◆ getVariableBounds() [1/2]

const Bounds & moveit::core::JointModel::getVariableBounds ( ) const

inline

Get the variable bounds for this joint, in the same order as the names returned by getVariableNames()

Definition at line 350 of file joint_model.h.

◆ getVariableBounds() [2/2]

const VariableBounds & moveit::core::JointModel::getVariableBounds ( const std::string & variable ) const

Get the bounds for a variable. Throw an exception if the variable was not found.

Definition at line 177 of file joint_model.cpp.

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◆ getVariableBoundsMsg()

const std::vector< moveit_msgs::msg::JointLimits > & moveit::core::JointModel::getVariableBoundsMsg ( ) const

inline

Get the joint limits known to this model, as a message.

Definition at line 362 of file joint_model.h.

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◆ getVariableCount()

std::size_t moveit::core::JointModel::getVariableCount ( ) const

inline

Get the number of variables that describe this joint.

Definition at line 210 of file joint_model.h.

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◆ getVariableDefaultPositions() [1/2]

void moveit::core::JointModel::getVariableDefaultPositions ( double * values ) const

inline

Provide a default value for the joint given the default joint variable bounds (maintained internally). Most joints will use the default implementation provided in this base class, but the quaternion for example needs a different implementation. Enough memory is assumed to be allocated.

Definition at line 238 of file joint_model.h.

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◆ getVariableDefaultPositions() [2/2]

virtual void moveit::core::JointModel::getVariableDefaultPositions	(	double *	values,
		const Bounds &	other_bounds
	)		const

pure virtual

Provide a default value for the joint given the joint variable bounds. Most joints will use the default implementation provided in this base class, but the quaternion for example needs a different implementation. Enough memory is assumed to be allocated.

Implemented in moveit::core::FixedJointModel, moveit::core::FloatingJointModel, moveit::core::PlanarJointModel, moveit::core::PrismaticJointModel, and moveit::core::RevoluteJointModel.

◆ getVariableNames()

const std::vector< std::string > & moveit::core::JointModel::getVariableNames ( ) const

inline

Get the names of the variables that make up this joint, in the order they appear in corresponding states. For single DOF joints, this will be just the joint name. For multi-DOF joints these will be the joint name followed by "/", followed by the local names of the variables.

Definition at line 190 of file joint_model.h.

◆ getVariableRandomPositions() [1/2]

void moveit::core::JointModel::getVariableRandomPositions	(	random_numbers::RandomNumberGenerator &	rng,
		double *	values
	)		const

inline

Provide random values for the joint variables (within default bounds). Enough memory is assumed to be allocated.

Definition at line 250 of file joint_model.h.

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◆ getVariableRandomPositions() [2/2]

virtual void moveit::core::JointModel::getVariableRandomPositions	(	random_numbers::RandomNumberGenerator &	rng,
		double *	values,
		const Bounds &	other_bounds
	)		const

pure virtual

Provide random values for the joint variables (within specified bounds). Enough memory is assumed to be allocated.

Implemented in moveit::core::FixedJointModel, moveit::core::FloatingJointModel, moveit::core::PlanarJointModel, moveit::core::PrismaticJointModel, and moveit::core::RevoluteJointModel.

◆ getVariableRandomPositionsNearBy() [1/2]

virtual void moveit::core::JointModel::getVariableRandomPositionsNearBy	(	random_numbers::RandomNumberGenerator &	rng,
		double *	values,
		const Bounds &	other_bounds,
		const double *	near,
		const double	distance
	)		const

pure virtual

Provide random values for the joint variables (within specified bounds). Enough memory is assumed to be allocated.

Implemented in moveit::core::FixedJointModel, moveit::core::FloatingJointModel, moveit::core::PlanarJointModel, moveit::core::PrismaticJointModel, and moveit::core::RevoluteJointModel.

◆ getVariableRandomPositionsNearBy() [2/2]

void moveit::core::JointModel::getVariableRandomPositionsNearBy	(	random_numbers::RandomNumberGenerator &	rng,
		double *	values,
		const double *	near,
		const double	distance
	)		const

inline

Provide random values for the joint variables (within default bounds). Enough memory is assumed to be allocated.

Definition at line 262 of file joint_model.h.

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◆ harmonizePosition() [1/2]

bool moveit::core::JointModel::harmonizePosition ( double * values ) const

inline

Definition at line 305 of file joint_model.h.

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◆ harmonizePosition() [2/2]

bool moveit::core::JointModel::harmonizePosition	(	double *	values,
		const Bounds &	other_bounds
	)		const

virtual

Harmonize position of revolute joints, adding/subtracting multiples of 2*Pi to bring them back into bounds. Return true if changes were made.

Reimplemented in moveit::core::RevoluteJointModel.

Definition at line 93 of file joint_model.cpp.

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◆ hasVariable()

bool moveit::core::JointModel::hasVariable ( const std::string & variable ) const

inline

Check if a particular variable is known to this joint.

Definition at line 204 of file joint_model.h.

◆ interpolate()

virtual void moveit::core::JointModel::interpolate	(	const double *	from,
		const double *	to,
		const double	t,
		double *	state
	)		const

pure virtual

Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state. The memory location of state is not required to be different from the memory of either from or to.

Implemented in moveit::core::FixedJointModel, moveit::core::FloatingJointModel, moveit::core::PlanarJointModel, moveit::core::PrismaticJointModel, and moveit::core::RevoluteJointModel.

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◆ isPassive()

bool moveit::core::JointModel::isPassive ( ) const

inline

Check if this joint is passive.

Definition at line 440 of file joint_model.h.

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◆ satisfiesAccelerationBounds() [1/2]

bool moveit::core::JointModel::satisfiesAccelerationBounds	(	const double *	values,
		const Bounds &	other_bounds,
		double	margin
	)		const

virtual

Check if the set of accelerations for the variables of this joint are within bounds, up to some margin.

Definition at line 137 of file joint_model.cpp.

◆ satisfiesAccelerationBounds() [2/2]

bool moveit::core::JointModel::satisfiesAccelerationBounds	(	const double *	values,
		double	margin = `0.0`
	)		const

inline

Check if the set of accelerations for the variables of this joint are within bounds.

Definition at line 329 of file joint_model.h.

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◆ satisfiesJerkBounds() [1/2]

bool moveit::core::JointModel::satisfiesJerkBounds	(	const double *	values,
		const Bounds &	other_bounds,
		double	margin
	)		const

virtual

Check if the set of jerks for the variables of this joint are within bounds, up to some margin.

Definition at line 157 of file joint_model.cpp.

◆ satisfiesJerkBounds() [2/2]

bool moveit::core::JointModel::satisfiesJerkBounds	(	const double *	values,
		double	margin = `0.0`
	)		const

inline

Check if the set of jerks for the variables of this joint are within bounds.

Definition at line 338 of file joint_model.h.

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◆ satisfiesPositionBounds() [1/2]

virtual bool moveit::core::JointModel::satisfiesPositionBounds	(	const double *	values,
		const Bounds &	other_bounds,
		double	margin
	)		const

pure virtual

Check if the set of position values for the variables of this joint are within bounds, up to some margin.

Implemented in moveit::core::FixedJointModel, moveit::core::FloatingJointModel, moveit::core::PlanarJointModel, moveit::core::PrismaticJointModel, and moveit::core::RevoluteJointModel.

◆ satisfiesPositionBounds() [2/2]

bool moveit::core::JointModel::satisfiesPositionBounds	(	const double *	values,
		double	margin = `0.0`
	)		const

inline

Check if the set of values for the variables of this joint are within bounds.

Definition at line 280 of file joint_model.h.

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◆ satisfiesVelocityBounds() [1/2]

bool moveit::core::JointModel::satisfiesVelocityBounds	(	const double *	values,
		const Bounds &	other_bounds,
		double	margin
	)		const

virtual

Check if the set of velocities for the variables of this joint are within bounds, up to some margin.

Definition at line 117 of file joint_model.cpp.

◆ satisfiesVelocityBounds() [2/2]

bool moveit::core::JointModel::satisfiesVelocityBounds	(	const double *	values,
		double	margin = `0.0`
	)		const

inline

Check if the set of velocities for the variables of this joint are within bounds.

Definition at line 311 of file joint_model.h.

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◆ setChildLinkModel()

void moveit::core::JointModel::setChildLinkModel ( const LinkModel * link )

inline

Definition at line 178 of file joint_model.h.

◆ setDistanceFactor()

void moveit::core::JointModel::setDistanceFactor ( double factor )

inline

Set the factor that should be applied to the value returned by distance() when that value is used in compound distances.

Definition at line 381 of file joint_model.h.

◆ setMimic()

void moveit::core::JointModel::setMimic	(	const JointModel *	mimic,
		double	factor,
		double	offset
	)

Mark this joint as mimicking mimic using factor and offset.

Definition at line 248 of file joint_model.cpp.

◆ setParentLinkModel()

void moveit::core::JointModel::setParentLinkModel ( const LinkModel * link )

inline

Definition at line 173 of file joint_model.h.

◆ setPassive()

void moveit::core::JointModel::setPassive ( bool flag )

inline

Definition at line 445 of file joint_model.h.

◆ setVariableBounds() [1/2]

void moveit::core::JointModel::setVariableBounds	(	const std::string &	variable,
		const VariableBounds &	bounds
	)

Set the lower and upper bounds for a variable. Throw an exception if the variable was not found.

Definition at line 182 of file joint_model.cpp.

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◆ setVariableBounds() [2/2]

void moveit::core::JointModel::setVariableBounds ( const std::vector< moveit_msgs::msg::JointLimits > & jlim )

Override joint limits loaded from URDF. Unknown variables are ignored.

Definition at line 188 of file joint_model.cpp.

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Member Data Documentation

◆ child_link_model_

const LinkModel* moveit::core::JointModel::child_link_model_

protected

The link after this joint.

Definition at line 512 of file joint_model.h.

◆ descendant_joint_models_

std::vector<const JointModel*> moveit::core::JointModel::descendant_joint_models_

protected

Pointers to all the joints that follow this one in the kinematic tree (including mimic joints)

Definition at line 530 of file joint_model.h.

◆ descendant_link_models_

std::vector<const LinkModel*> moveit::core::JointModel::descendant_link_models_

protected

Pointers to all the links that will be moved if this joint changes value.

Definition at line 527 of file joint_model.h.

◆ distance_factor_

double moveit::core::JointModel::distance_factor_

protected

The factor applied to the distance between two joint states.

Definition at line 540 of file joint_model.h.

◆ local_variable_names_

std::vector<std::string> moveit::core::JointModel::local_variable_names_

protected

The local names to use for the variables that make up this joint.

Definition at line 494 of file joint_model.h.

◆ mimic_

const JointModel* moveit::core::JointModel::mimic_

protected

The joint this one mimics (nullptr for joints that do not mimic)

Definition at line 515 of file joint_model.h.

◆ mimic_factor_

double moveit::core::JointModel::mimic_factor_

protected

The multiplier to the mimic joint.

Definition at line 518 of file joint_model.h.

◆ mimic_offset_

double moveit::core::JointModel::mimic_offset_

protected

The offset to the mimic joint.

Definition at line 521 of file joint_model.h.

◆ mimic_requests_

std::vector<const JointModel*> moveit::core::JointModel::mimic_requests_

protected

The set of joints that should get a value copied to them when this joint changes.

Definition at line 524 of file joint_model.h.

◆ non_fixed_descendant_joint_models_

std::vector<const JointModel*> moveit::core::JointModel::non_fixed_descendant_joint_models_

protected

Pointers to all the joints that follow this one in the kinematic tree, including mimic joints, but excluding fixed joints.

Definition at line 534 of file joint_model.h.

◆ parent_link_model_

const LinkModel* moveit::core::JointModel::parent_link_model_

protected

The link before this joint.

Definition at line 509 of file joint_model.h.

◆ passive_

bool moveit::core::JointModel::passive_

protected

Specify whether this joint is marked as passive in the SRDF.

Definition at line 537 of file joint_model.h.

◆ type_

JointType moveit::core::JointModel::type_

protected

The type of joint.

Definition at line 491 of file joint_model.h.

◆ variable_bounds_

Bounds moveit::core::JointModel::variable_bounds_

protected

The bounds for each variable (low, high) in the same order as variable_names_.

Definition at line 500 of file joint_model.h.

◆ variable_bounds_msg_

std::vector<moveit_msgs::msg::JointLimits> moveit::core::JointModel::variable_bounds_msg_

protected

Definition at line 502 of file joint_model.h.

◆ variable_index_map_

VariableIndexMap moveit::core::JointModel::variable_index_map_

protected

Map from variable names to the corresponding index in variable_names_ (indexing makes sense within the JointModel only)

Definition at line 506 of file joint_model.h.

◆ variable_names_

std::vector<std::string> moveit::core::JointModel::variable_names_

protected

The full names to use for the variables that make up this joint.

Definition at line 497 of file joint_model.h.

The documentation for this class was generated from the following files:

moveit_core/robot_model/include/moveit/robot_model/joint_model.h
moveit_core/robot_model/src/joint_model.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Bounds

Member Enumeration Documentation

◆ JointType

Constructor & Destructor Documentation

◆ JointModel()

◆ ~JointModel()

Member Function Documentation

◆ addDescendantJointModel()

◆ addDescendantLinkModel()

◆ addMimicRequest()

◆ computeTransform()

◆ computeVariableBoundsMsg()

◆ computeVariablePositions()

◆ distance()

◆ enforcePositionBounds() [1/2]

◆ enforcePositionBounds() [2/2]

◆ enforceVelocityBounds() [1/2]

◆ enforceVelocityBounds() [2/2]

◆ getChildLinkModel()

◆ getDescendantJointModels()

◆ getDescendantLinkModels()

◆ getDistanceFactor()

◆ getFirstVariableIndex()

◆ getJointIndex()

◆ getLocalVariableIndex()

◆ getLocalVariableNames()

◆ getMaximumExtent() [1/2]

◆ getMaximumExtent() [2/2]

◆ getMimic()

◆ getMimicFactor()

◆ getMimicOffset()

◆ getMimicRequests()

◆ getName()

◆ getNonFixedDescendantJointModels()

◆ getParentLinkModel()

◆ getStateSpaceDimension()

◆ getType()

◆ getTypeName()

◆ getVariableBounds() [1/2]

◆ getVariableBounds() [2/2]

◆ getVariableBoundsMsg()

◆ getVariableCount()

◆ getVariableDefaultPositions() [1/2]

◆ getVariableDefaultPositions() [2/2]

◆ getVariableNames()

◆ getVariableRandomPositions() [1/2]

◆ getVariableRandomPositions() [2/2]

◆ getVariableRandomPositionsNearBy() [1/2]

◆ getVariableRandomPositionsNearBy() [2/2]

◆ harmonizePosition() [1/2]

◆ harmonizePosition() [2/2]

◆ hasVariable()

◆ interpolate()

◆ isPassive()

◆ satisfiesAccelerationBounds() [1/2]

◆ satisfiesAccelerationBounds() [2/2]

◆ satisfiesJerkBounds() [1/2]

◆ satisfiesJerkBounds() [2/2]

◆ satisfiesPositionBounds() [1/2]

◆ satisfiesPositionBounds() [2/2]

◆ satisfiesVelocityBounds() [1/2]

◆ satisfiesVelocityBounds() [2/2]

◆ setChildLinkModel()

◆ setDistanceFactor()

◆ setMimic()

◆ setParentLinkModel()

◆ setPassive()

◆ setVariableBounds() [1/2]

◆ setVariableBounds() [2/2]

Member Data Documentation

◆ child_link_model_

◆ descendant_joint_models_

◆ descendant_link_models_

◆ distance_factor_